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<div class="title">block_solver.h</div>  </div>
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<a href="block__solver_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// g2o - General Graph Optimization</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">// All rights reserved.</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">// Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">// modification, are permitted provided that the following conditions are</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">// met:</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">// * Redistributions of source code must retain the above copyright notice,</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">//   this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">// * Redistributions in binary form must reproduce the above copyright</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">//   notice, this list of conditions and the following disclaimer in the</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">//   documentation and/or other materials provided with the distribution.</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">// IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#ifndef G2O_BLOCK_SOLVER_H</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#define G2O_BLOCK_SOLVER_H</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="preprocessor">#include &lt;eigen3/Eigen/Core&gt;</span></div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="solver_8h.html">solver.h</a>&quot;</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="linear__solver_8h.html">linear_solver.h</a>&quot;</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="sparse__block__matrix_8h.html">sparse_block_matrix.h</a>&quot;</span></div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="sparse__block__matrix__diagonal_8h.html">sparse_block_matrix_diagonal.h</a>&quot;</span></div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="openmp__mutex_8h.html">openmp_mutex.h</a>&quot;</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="preprocessor">#include &quot;../../config.h&quot;</span></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceg2o.html">g2o</a> {</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  <span class="keyword">using namespace </span><a class="code" href="namespace_eigen.html">Eigen</a>;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  <span class="keyword">template</span> &lt;<span class="keywordtype">int</span> _PoseDim, <span class="keywordtype">int</span> _LandmarkDim&gt;</div><div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="structg2o_1_1_block_solver_traits.html">   44</a></span>&#160;  <span class="keyword">struct </span><a class="code" href="structg2o_1_1_block_solver_traits.html">BlockSolverTraits</a></div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  {</div><div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="structg2o_1_1_block_solver_traits.html#a90a03bcfc60b629da5601f6df9514297">   46</a></span>&#160;    <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> PoseDim = _PoseDim;</div><div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="structg2o_1_1_block_solver_traits.html#a7e6e33971e5243e020a9f41cd3182218">   47</a></span>&#160; 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   <span class="keyword">typedef</span> Matrix&lt;double, PoseDim, LandmarkDim&gt; <a class="code" href="structg2o_1_1_block_solver_traits.html#a91e6510ad42179701d22c3ac312237cd">PoseLandmarkMatrixType</a>;</div><div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="structg2o_1_1_block_solver_traits.html#a032ed57e9bc44c36093f97b32e1506f6">   51</a></span>&#160;    <span class="keyword">typedef</span> Matrix&lt;double, PoseDim, 1&gt; <a class="code" href="structg2o_1_1_block_solver_traits.html#a032ed57e9bc44c36093f97b32e1506f6">PoseVectorType</a>;</div><div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="structg2o_1_1_block_solver_traits.html#af5154a15abb566ff5bffc0adb9f0458d">   52</a></span>&#160;    <span class="keyword">typedef</span> Matrix&lt;double, LandmarkDim, 1&gt; <a class="code" href="structg2o_1_1_block_solver_traits.html#af5154a15abb566ff5bffc0adb9f0458d">LandmarkVectorType</a>;</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;</div><div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="structg2o_1_1_block_solver_traits.html#a03351362339d8e6609c577123350bb2a">   54</a></span>&#160; 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 {</div><div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="structg2o_1_1_block_solver_traits_3_01_eigen_1_1_dynamic_00_01_eigen_1_1_dynamic_01_4.html#a04a2cc2de80563b4b21f815150c3b0ec">   66</a></span>&#160;    <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> PoseDim = Eigen::Dynamic;</div><div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="structg2o_1_1_block_solver_traits_3_01_eigen_1_1_dynamic_00_01_eigen_1_1_dynamic_01_4.html#aa8f7b7c3fc1ce4a7d61e925e3067e196">   67</a></span>&#160;    <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> LandmarkDim = Eigen::Dynamic;</div><div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="structg2o_1_1_block_solver_traits_3_01_eigen_1_1_dynamic_00_01_eigen_1_1_dynamic_01_4.html#a11131d4b2d25cea90eef0d3687eb6dc1">   68</a></span>&#160;    <span class="keyword">typedef</span> MatrixXd <a class="code" href="structg2o_1_1_block_solver_traits_3_01_eigen_1_1_dynamic_00_01_eigen_1_1_dynamic_01_4.html#a11131d4b2d25cea90eef0d3687eb6dc1">PoseMatrixType</a>;</div><div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="structg2o_1_1_block_solver_traits_3_01_eigen_1_1_dynamic_00_01_eigen_1_1_dynamic_01_4.html#a4409de5074b3458f33ba2015e2fa6891">   69</a></span>&#160; 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     std::vector&lt;PoseVectorType, Eigen::aligned_allocator&lt;PoseVectorType&gt; &gt; <a class="code" href="classg2o_1_1_block_solver.html#a3cb6f86c522c2ea26478ad44b7c32f76">_diagonalBackupPose</a>;</div><div class="line"><a name="l00163"></a><span class="lineno"><a class="line" href="classg2o_1_1_block_solver.html#a3bc5b19faa2c45e2c04a6743b3a083de">  163</a></span>&#160;      std::vector&lt;LandmarkVectorType, Eigen::aligned_allocator&lt;LandmarkVectorType&gt; &gt; <a class="code" href="classg2o_1_1_block_solver.html#a3bc5b19faa2c45e2c04a6743b3a083de">_diagonalBackupLandmark</a>;</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;<span class="preprocessor">#    ifdef G2O_OPENMP</span></div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;      std::vector&lt;OpenMPMutex&gt; _coefficientsMutex;</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;<span class="preprocessor">#    endif</span></div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;</div><div class="line"><a name="l00169"></a><span class="lineno"><a class="line" href="classg2o_1_1_block_solver.html#ab375a5fac964182442f38288bd8a103a">  169</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classg2o_1_1_block_solver.html#ab375a5fac964182442f38288bd8a103a">_doSchur</a>;</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;</div><div class="line"><a name="l00171"></a><span class="lineno"><a class="line" href="classg2o_1_1_block_solver.html#a416f480d4b27d7f8962ae7ae363f2e32">  171</a></span>&#160;      <span class="keywordtype">double</span>* <a class="code" href="classg2o_1_1_block_solver.html#a416f480d4b27d7f8962ae7ae363f2e32">_coefficients</a>;</div><div class="line"><a name="l00172"></a><span class="lineno"><a class="line" href="classg2o_1_1_block_solver.html#aafddeb1d0a4218fc9c3c77169e20f81a">  172</a></span>&#160;      <span class="keywordtype">double</span>* <a class="code" href="classg2o_1_1_block_solver.html#aafddeb1d0a4218fc9c3c77169e20f81a">_bschur</a>;</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;</div><div class="line"><a name="l00174"></a><span class="lineno"><a class="line" href="classg2o_1_1_block_solver.html#a709259fc290d746f4174d25410b7458a">  174</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classg2o_1_1_block_solver.html#a709259fc290d746f4174d25410b7458a">_numPoses</a>, _numLandmarks;</div><div class="line"><a name="l00175"></a><span class="lineno"><a class="line" href="classg2o_1_1_block_solver.html#a39ec000379885ce09cdd8c23ab6d4567">  175</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classg2o_1_1_block_solver.html#a39ec000379885ce09cdd8c23ab6d4567">_sizePoses</a>, _sizeLandmarks;</div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;  };</div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  <span class="comment">//variable size solver</span></div><div class="line"><a name="l00180"></a><span class="lineno"><a class="line" href="namespaceg2o.html#a8d3214273331c25cbb5d5266770e6c12">  180</a></span>&#160;  <span class="keyword">typedef</span> <a class="code" href="classg2o_1_1_block_solver.html">BlockSolver&lt; BlockSolverTraits&lt;Eigen::Dynamic, Eigen::Dynamic&gt;</a> &gt; <a class="code" href="namespaceg2o.html#a8d3214273331c25cbb5d5266770e6c12">BlockSolverX</a>;</div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  <span class="comment">// solver for BA/3D SLAM</span></div><div class="line"><a name="l00182"></a><span class="lineno"><a class="line" href="namespaceg2o.html#a6eb2ab4064026e9c63c99b783b892cda">  182</a></span>&#160;  <span class="keyword">typedef</span> <a class="code" href="classg2o_1_1_block_solver.html">BlockSolver&lt; BlockSolverTraits&lt;6, 3&gt;</a> &gt; <a class="code" href="namespaceg2o.html#a6eb2ab4064026e9c63c99b783b892cda">BlockSolver_6_3</a>;  </div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;  <span class="comment">// solver fo BA with scale</span></div><div class="line"><a name="l00184"></a><span class="lineno"><a class="line" href="namespaceg2o.html#a83b509c02a1333991cbb0c04d3ff7beb">  184</a></span>&#160;  <span class="keyword">typedef</span> <a class="code" href="classg2o_1_1_block_solver.html">BlockSolver&lt; BlockSolverTraits&lt;7, 3&gt;</a> &gt; <a class="code" href="namespaceg2o.html#a83b509c02a1333991cbb0c04d3ff7beb">BlockSolver_7_3</a>;  </div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;  <span class="comment">// 2Dof landmarks 3Dof poses</span></div><div class="line"><a name="l00186"></a><span class="lineno"><a class="line" href="namespaceg2o.html#a4e97101bb6ac73bdb6527994a36b9819">  186</a></span>&#160;  <span class="keyword">typedef</span> <a class="code" href="classg2o_1_1_block_solver.html">BlockSolver&lt; BlockSolverTraits&lt;3, 2&gt;</a> &gt; <a class="code" href="namespaceg2o.html#a4e97101bb6ac73bdb6527994a36b9819">BlockSolver_3_2</a>;</div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;</div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;} <span class="comment">// end namespace</span></div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;</div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="block__solver_8hpp.html">block_solver.hpp</a>&quot;</span></div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;</div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;</div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="classg2o_1_1_block_solver_html_a676a4ef473ccaecb23050284e19659af"><div class="ttname"><a href="classg2o_1_1_block_solver.html#a676a4ef473ccaecb23050284e19659af">g2o::BlockSolver::_linearSolver</a></div><div class="ttdeci">LinearSolver&lt; PoseMatrixType &gt; * _linearSolver</div><div class="ttdef"><b>Definition:</b> block_solver.h:160</div></div>
<div class="ttc" id="classg2o_1_1_block_solver_html_a3cb6f86c522c2ea26478ad44b7c32f76"><div class="ttname"><a href="classg2o_1_1_block_solver.html#a3cb6f86c522c2ea26478ad44b7c32f76">g2o::BlockSolver::_diagonalBackupPose</a></div><div class="ttdeci">std::vector&lt; PoseVectorType, Eigen::aligned_allocator&lt; PoseVectorType &gt; &gt; _diagonalBackupPose</div><div class="ttdef"><b>Definition:</b> block_solver.h:162</div></div>
<div class="ttc" id="structg2o_1_1_block_solver_traits_3_01_eigen_1_1_dynamic_00_01_eigen_1_1_dynamic_01_4_html_ae8ae50131f5aeaf97c844e20960ebaf3"><div class="ttname"><a href="structg2o_1_1_block_solver_traits_3_01_eigen_1_1_dynamic_00_01_eigen_1_1_dynamic_01_4.html#ae8ae50131f5aeaf97c844e20960ebaf3">g2o::BlockSolverTraits&lt; Eigen::Dynamic, Eigen::Dynamic &gt;::PoseVectorType</a></div><div class="ttdeci">VectorXd PoseVectorType</div><div class="ttdef"><b>Definition:</b> block_solver.h:71</div></div>
<div class="ttc" id="classg2o_1_1_block_solver_html_aafddeb1d0a4218fc9c3c77169e20f81a"><div class="ttname"><a href="classg2o_1_1_block_solver.html#aafddeb1d0a4218fc9c3c77169e20f81a">g2o::BlockSolver::_bschur</a></div><div class="ttdeci">double * _bschur</div><div class="ttdef"><b>Definition:</b> block_solver.h:172</div></div>
<div class="ttc" id="classg2o_1_1_block_solver_html_a6dd8e7e7a099410005cb96ff874d8866"><div class="ttname"><a href="classg2o_1_1_block_solver.html#a6dd8e7e7a099410005cb96ff874d8866">g2o::BlockSolver::setSchur</a></div><div class="ttdeci">virtual void setSchur(bool s)</div><div class="ttdef"><b>Definition:</b> block_solver.h:133</div></div>
<div class="ttc" id="namespaceg2o_html_a6eb2ab4064026e9c63c99b783b892cda"><div class="ttname"><a href="namespaceg2o.html#a6eb2ab4064026e9c63c99b783b892cda">g2o::BlockSolver_6_3</a></div><div class="ttdeci">BlockSolver&lt; BlockSolverTraits&lt; 6, 3 &gt; &gt; BlockSolver_6_3</div><div class="ttdef"><b>Definition:</b> block_solver.h:182</div></div>
<div class="ttc" id="classg2o_1_1_linear_solver_html"><div class="ttname"><a href="classg2o_1_1_linear_solver.html">g2o::LinearSolver&lt; PoseMatrixType &gt;</a></div></div>
<div class="ttc" id="structg2o_1_1_block_solver_traits_html_af8ef27915a056caae3b12a9ca609eba6"><div class="ttname"><a href="structg2o_1_1_block_solver_traits.html#af8ef27915a056caae3b12a9ca609eba6">g2o::BlockSolverTraits::PoseLandmarkHessianType</a></div><div class="ttdeci">SparseBlockMatrix&lt; PoseLandmarkMatrixType &gt; PoseLandmarkHessianType</div><div class="ttdef"><b>Definition:</b> block_solver.h:56</div></div>
<div class="ttc" id="classg2o_1_1_block_solver_html_a88d4c24df24a8fb72be1a4e4cff03d71"><div class="ttname"><a href="classg2o_1_1_block_solver.html#a88d4c24df24a8fb72be1a4e4cff03d71">g2o::BlockSolver::_Hll</a></div><div class="ttdeci">SparseBlockMatrix&lt; LandmarkMatrixType &gt; * _Hll</div><div class="ttdef"><b>Definition:</b> block_solver.h:151</div></div>
<div class="ttc" id="classg2o_1_1_block_solver_html_a8c7c43d361bd31e3e0353889ba703bc0"><div class="ttname"><a href="classg2o_1_1_block_solver.html#a8c7c43d361bd31e3e0353889ba703bc0">g2o::BlockSolver::PoseMatrixType</a></div><div class="ttdeci">Traits::PoseMatrixType PoseMatrixType</div><div class="ttdef"><b>Definition:</b> block_solver.h:102</div></div>
<div class="ttc" id="classg2o_1_1_block_solver_html_a46977934a3e4fb0cd36bc4181ed3ec0e"><div class="ttname"><a href="classg2o_1_1_block_solver.html#a46977934a3e4fb0cd36bc4181ed3ec0e">g2o::BlockSolver::_Hschur</a></div><div class="ttdeci">SparseBlockMatrix&lt; PoseMatrixType &gt; * _Hschur</div><div class="ttdef"><b>Definition:</b> block_solver.h:154</div></div>
<div class="ttc" id="namespaceg2o_1_1types__six__dof__expmap_html_a2bec58737fccd3c11536ce1eb2692b73"><div class="ttname"><a href="namespaceg2o_1_1types__six__dof__expmap.html#a2bec58737fccd3c11536ce1eb2692b73">g2o::types_six_dof_expmap::init</a></div><div class="ttdeci">void init()</div></div>
<div class="ttc" id="classg2o_1_1_sparse_optimizer_html"><div class="ttname"><a href="classg2o_1_1_sparse_optimizer.html">g2o::SparseOptimizer</a></div><div class="ttdef"><b>Definition:</b> sparse_optimizer.h:45</div></div>
<div class="ttc" id="classg2o_1_1_block_solver_html_ab54eb7bb13f8b3a8a5f135a98f2050ec"><div class="ttname"><a href="classg2o_1_1_block_solver.html#ab54eb7bb13f8b3a8a5f135a98f2050ec">g2o::BlockSolver::_HplCCS</a></div><div class="ttdeci">SparseBlockMatrixCCS&lt; PoseLandmarkMatrixType &gt; * _HplCCS</div><div class="ttdef"><b>Definition:</b> block_solver.h:157</div></div>
<div class="ttc" id="linear__solver_8h_html"><div class="ttname"><a href="linear__solver_8h.html">linear_solver.h</a></div></div>
<div class="ttc" id="sparse__block__matrix__diagonal_8h_html"><div class="ttname"><a href="sparse__block__matrix__diagonal_8h.html">sparse_block_matrix_diagonal.h</a></div></div>
<div class="ttc" id="structg2o_1_1_block_solver_traits_html_a35e6e4bad138dcfcaa3b1339e168bf30"><div class="ttname"><a href="structg2o_1_1_block_solver_traits.html#a35e6e4bad138dcfcaa3b1339e168bf30">g2o::BlockSolverTraits::PoseMatrixType</a></div><div class="ttdeci">Matrix&lt; double, PoseDim, PoseDim &gt; PoseMatrixType</div><div class="ttdef"><b>Definition:</b> block_solver.h:48</div></div>
<div class="ttc" id="structg2o_1_1_block_solver_traits_3_01_eigen_1_1_dynamic_00_01_eigen_1_1_dynamic_01_4_html_a73a81a0aeabd1216ae3a8f5700666ac4"><div class="ttname"><a href="structg2o_1_1_block_solver_traits_3_01_eigen_1_1_dynamic_00_01_eigen_1_1_dynamic_01_4.html#a73a81a0aeabd1216ae3a8f5700666ac4">g2o::BlockSolverTraits&lt; Eigen::Dynamic, Eigen::Dynamic &gt;::LandmarkHessianType</a></div><div class="ttdeci">SparseBlockMatrix&lt; LandmarkMatrixType &gt; LandmarkHessianType</div><div class="ttdef"><b>Definition:</b> block_solver.h:75</div></div>
<div class="ttc" id="classg2o_1_1_block_solver_html_ab375a5fac964182442f38288bd8a103a"><div class="ttname"><a href="classg2o_1_1_block_solver.html#ab375a5fac964182442f38288bd8a103a">g2o::BlockSolver::_doSchur</a></div><div class="ttdeci">bool _doSchur</div><div class="ttdef"><b>Definition:</b> block_solver.h:169</div></div>
<div class="ttc" id="block__solver_8hpp_html"><div class="ttname"><a href="block__solver_8hpp.html">block_solver.hpp</a></div></div>
<div class="ttc" id="classg2o_1_1_block_solver_html_a382173946f1dd929a625e3708c959883"><div class="ttname"><a href="classg2o_1_1_block_solver.html#a382173946f1dd929a625e3708c959883">g2o::BlockSolver::schur</a></div><div class="ttdeci">virtual bool schur()</div><div class="ttdoc">should the solver perform the schur complement or not </div><div class="ttdef"><b>Definition:</b> block_solver.h:132</div></div>
<div class="ttc" id="namespace_eigen_html"><div class="ttname"><a href="namespace_eigen.html">Eigen</a></div></div>
<div class="ttc" id="classg2o_1_1_block_solver_html_a416f480d4b27d7f8962ae7ae363f2e32"><div class="ttname"><a href="classg2o_1_1_block_solver.html#a416f480d4b27d7f8962ae7ae363f2e32">g2o::BlockSolver::_coefficients</a></div><div class="ttdeci">double * _coefficients</div><div class="ttdef"><b>Definition:</b> block_solver.h:171</div></div>
<div class="ttc" id="classg2o_1_1_block_solver_html_a39ec000379885ce09cdd8c23ab6d4567"><div class="ttname"><a href="classg2o_1_1_block_solver.html#a39ec000379885ce09cdd8c23ab6d4567">g2o::BlockSolver::_sizePoses</a></div><div class="ttdeci">int _sizePoses</div><div class="ttdef"><b>Definition:</b> block_solver.h:175</div></div>
<div class="ttc" id="classg2o_1_1_block_solver_html_a19ade5e432f32e46557192ae75074304"><div class="ttname"><a href="classg2o_1_1_block_solver.html#a19ade5e432f32e46557192ae75074304">g2o::BlockSolver::LandmarkVectorType</a></div><div class="ttdeci">Traits::LandmarkVectorType LandmarkVectorType</div><div class="ttdef"><b>Definition:</b> block_solver.h:106</div></div>
<div class="ttc" id="structg2o_1_1_block_solver_traits_html"><div class="ttname"><a href="structg2o_1_1_block_solver_traits.html">g2o::BlockSolverTraits</a></div><div class="ttdoc">traits to summarize the properties of the fixed size optimization problem </div><div class="ttdef"><b>Definition:</b> block_solver.h:44</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_diagonal_html"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix_diagonal.html">g2o::SparseBlockMatrixDiagonal&lt; LandmarkMatrixType &gt;</a></div></div>
<div class="ttc" id="classg2o_1_1_block_solver_html_a65d51b9281e2e2597df05eb00801ee76"><div class="ttname"><a href="classg2o_1_1_block_solver.html#a65d51b9281e2e2597df05eb00801ee76">g2o::BlockSolver::PoseVectorType</a></div><div class="ttdeci">Traits::PoseVectorType PoseVectorType</div><div class="ttdef"><b>Definition:</b> block_solver.h:105</div></div>
<div class="ttc" id="openmp__mutex_8h_html"><div class="ttname"><a href="openmp__mutex_8h.html">openmp_mutex.h</a></div></div>
<div class="ttc" id="classg2o_1_1_block_solver_html_a709259fc290d746f4174d25410b7458a"><div class="ttname"><a href="classg2o_1_1_block_solver.html#a709259fc290d746f4174d25410b7458a">g2o::BlockSolver::_numPoses</a></div><div class="ttdeci">int _numPoses</div><div class="ttdef"><b>Definition:</b> block_solver.h:174</div></div>
<div class="ttc" id="classg2o_1_1_block_solver_base_html"><div class="ttname"><a href="classg2o_1_1_block_solver_base.html">g2o::BlockSolverBase</a></div><div class="ttdoc">base for the block solvers with some basic function interfaces </div><div class="ttdef"><b>Definition:</b> block_solver.h:83</div></div>
<div class="ttc" id="classg2o_1_1_block_solver_html_af71279eea2391daa4d7528da28107f1c"><div class="ttname"><a href="classg2o_1_1_block_solver.html#af71279eea2391daa4d7528da28107f1c">g2o::BlockSolver::linearSolver</a></div><div class="ttdeci">LinearSolver&lt; PoseMatrixType &gt; * linearSolver() const</div><div class="ttdef"><b>Definition:</b> block_solver.h:135</div></div>
<div class="ttc" id="classg2o_1_1_solver_html"><div class="ttname"><a href="classg2o_1_1_solver.html">g2o::Solver</a></div><div class="ttdoc">Generic interface for a sparse solver operating on a graph which solves one iteration of the lineariz...</div><div class="ttdef"><b>Definition:</b> solver.h:43</div></div>
<div class="ttc" id="structg2o_1_1_block_solver_traits_html_a032ed57e9bc44c36093f97b32e1506f6"><div class="ttname"><a href="structg2o_1_1_block_solver_traits.html#a032ed57e9bc44c36093f97b32e1506f6">g2o::BlockSolverTraits::PoseVectorType</a></div><div class="ttdeci">Matrix&lt; double, PoseDim, 1 &gt; PoseVectorType</div><div class="ttdef"><b>Definition:</b> block_solver.h:51</div></div>
<div class="ttc" id="namespaceg2o_html_a4e97101bb6ac73bdb6527994a36b9819"><div class="ttname"><a href="namespaceg2o.html#a4e97101bb6ac73bdb6527994a36b9819">g2o::BlockSolver_3_2</a></div><div class="ttdeci">BlockSolver&lt; BlockSolverTraits&lt; 3, 2 &gt; &gt; BlockSolver_3_2</div><div class="ttdef"><b>Definition:</b> block_solver.h:186</div></div>
<div class="ttc" id="structg2o_1_1_block_solver_traits_3_01_eigen_1_1_dynamic_00_01_eigen_1_1_dynamic_01_4_html_aa6f67fd6ba29156f6d1069db0c3b5d11"><div class="ttname"><a href="structg2o_1_1_block_solver_traits_3_01_eigen_1_1_dynamic_00_01_eigen_1_1_dynamic_01_4.html#aa6f67fd6ba29156f6d1069db0c3b5d11">g2o::BlockSolverTraits&lt; Eigen::Dynamic, Eigen::Dynamic &gt;::PoseLandmarkHessianType</a></div><div class="ttdeci">SparseBlockMatrix&lt; PoseLandmarkMatrixType &gt; PoseLandmarkHessianType</div><div class="ttdef"><b>Definition:</b> block_solver.h:76</div></div>
<div class="ttc" id="namespaceg2o_html"><div class="ttname"><a href="namespaceg2o.html">g2o</a></div><div class="ttdef"><b>Definition:</b> base_binary_edge.h:37</div></div>
<div class="ttc" id="classg2o_1_1_block_solver_html_a68dc822ce48e80ceacce69c7bd029674"><div class="ttname"><a href="classg2o_1_1_block_solver.html#a68dc822ce48e80ceacce69c7bd029674">g2o::BlockSolver::supportsSchur</a></div><div class="ttdeci">virtual bool supportsSchur()</div><div class="ttdoc">does this solver support the Schur complement for solving a system consisting of poses and landmarks...</div><div class="ttdef"><b>Definition:</b> block_solver.h:131</div></div>
<div class="ttc" id="structg2o_1_1_block_solver_traits_html_add9b9fbfef352b7654d41914d5eaa58c"><div class="ttname"><a href="structg2o_1_1_block_solver_traits.html#add9b9fbfef352b7654d41914d5eaa58c">g2o::BlockSolverTraits::LandmarkMatrixType</a></div><div class="ttdeci">Matrix&lt; double, LandmarkDim, LandmarkDim &gt; LandmarkMatrixType</div><div class="ttdef"><b>Definition:</b> block_solver.h:49</div></div>
<div class="ttc" id="structg2o_1_1_block_solver_traits_html_ae761bb32d5267e4d74e5d9c2c7e7ad2f"><div class="ttname"><a href="structg2o_1_1_block_solver_traits.html#ae761bb32d5267e4d74e5d9c2c7e7ad2f">g2o::BlockSolverTraits::LandmarkHessianType</a></div><div class="ttdeci">SparseBlockMatrix&lt; LandmarkMatrixType &gt; LandmarkHessianType</div><div class="ttdef"><b>Definition:</b> block_solver.h:55</div></div>
<div class="ttc" id="structg2o_1_1_block_solver_traits_html_add6edae08cb0665c2b1e7c641cdb4dc4"><div class="ttname"><a href="structg2o_1_1_block_solver_traits.html#add6edae08cb0665c2b1e7c641cdb4dc4">g2o::BlockSolverTraits::LinearSolverType</a></div><div class="ttdeci">LinearSolver&lt; PoseMatrixType &gt; LinearSolverType</div><div class="ttdef"><b>Definition:</b> block_solver.h:57</div></div>
<div class="ttc" id="classg2o_1_1_block_solver_html_a6eb8f0729e8bcd760e629421cfa7202c"><div class="ttname"><a href="classg2o_1_1_block_solver.html#a6eb8f0729e8bcd760e629421cfa7202c">g2o::BlockSolver::multiplyHessian</a></div><div class="ttdeci">virtual void multiplyHessian(double *dest, const double *src) const</div><div class="ttdoc">compute dest = H * src </div><div class="ttdef"><b>Definition:</b> block_solver.h:142</div></div>
<div class="ttc" id="classg2o_1_1_block_solver_html_aed8b44e394d2f19ca03c87adf90cc97c"><div class="ttname"><a href="classg2o_1_1_block_solver.html#aed8b44e394d2f19ca03c87adf90cc97c">g2o::BlockSolver::PoseLandmarkHessianType</a></div><div class="ttdeci">Traits::PoseLandmarkHessianType PoseLandmarkHessianType</div><div class="ttdef"><b>Definition:</b> block_solver.h:110</div></div>
<div class="ttc" id="classg2o_1_1_block_solver_html_a465b1252905d90fd69b4243716620c45"><div class="ttname"><a href="classg2o_1_1_block_solver.html#a465b1252905d90fd69b4243716620c45">g2o::BlockSolver::LandmarkHessianType</a></div><div class="ttdeci">Traits::LandmarkHessianType LandmarkHessianType</div><div class="ttdef"><b>Definition:</b> block_solver.h:109</div></div>
<div class="ttc" id="classg2o_1_1_block_solver_html_a0f6051339990e95aa587145a8a6f4f5f"><div class="ttname"><a href="classg2o_1_1_block_solver.html#a0f6051339990e95aa587145a8a6f4f5f">g2o::BlockSolver::_Hpl</a></div><div class="ttdeci">SparseBlockMatrix&lt; PoseLandmarkMatrixType &gt; * _Hpl</div><div class="ttdef"><b>Definition:</b> block_solver.h:152</div></div>
<div class="ttc" id="structg2o_1_1_block_solver_traits_3_01_eigen_1_1_dynamic_00_01_eigen_1_1_dynamic_01_4_html_ab81ac9673971ec5c896f4b431ae30f0b"><div class="ttname"><a href="structg2o_1_1_block_solver_traits_3_01_eigen_1_1_dynamic_00_01_eigen_1_1_dynamic_01_4.html#ab81ac9673971ec5c896f4b431ae30f0b">g2o::BlockSolverTraits&lt; Eigen::Dynamic, Eigen::Dynamic &gt;::PoseLandmarkMatrixType</a></div><div class="ttdeci">MatrixXd PoseLandmarkMatrixType</div><div class="ttdef"><b>Definition:</b> block_solver.h:70</div></div>
<div class="ttc" id="sparse__block__matrix_8h_html"><div class="ttname"><a href="sparse__block__matrix_8h.html">sparse_block_matrix.h</a></div></div>
<div class="ttc" id="classg2o_1_1_block_solver_html"><div class="ttname"><a href="classg2o_1_1_block_solver.html">g2o::BlockSolver</a></div><div class="ttdoc">Implementation of a solver operating on the blocks of the Hessian. </div><div class="ttdef"><b>Definition:</b> block_solver.h:97</div></div>
<div class="ttc" id="solver_8h_html"><div class="ttname"><a href="solver_8h.html">solver.h</a></div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_html"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html">g2o::SparseBlockMatrix&lt; PoseMatrixType &gt;</a></div></div>
<div class="ttc" id="classg2o_1_1_block_solver_html_acea4b8ea8db5a29b63bea4bc568b0b26"><div class="ttname"><a href="classg2o_1_1_block_solver.html#acea4b8ea8db5a29b63bea4bc568b0b26">g2o::BlockSolver::_HschurTransposedCCS</a></div><div class="ttdeci">SparseBlockMatrixCCS&lt; PoseMatrixType &gt; * _HschurTransposedCCS</div><div class="ttdef"><b>Definition:</b> block_solver.h:158</div></div>
<div class="ttc" id="classg2o_1_1_block_solver_html_a0e7f862860a1e3391cec3cfaf69c48be"><div class="ttname"><a href="classg2o_1_1_block_solver.html#a0e7f862860a1e3391cec3cfaf69c48be">g2o::BlockSolver::PoseHessianType</a></div><div class="ttdeci">Traits::PoseHessianType PoseHessianType</div><div class="ttdef"><b>Definition:</b> block_solver.h:108</div></div>
<div class="ttc" id="classg2o_1_1_block_solver_base_html_a59aabc7d24599a7f7b251cc0040bcb0a"><div class="ttname"><a href="classg2o_1_1_block_solver_base.html#a59aabc7d24599a7f7b251cc0040bcb0a">g2o::BlockSolverBase::~BlockSolverBase</a></div><div class="ttdeci">virtual ~BlockSolverBase()</div><div class="ttdef"><b>Definition:</b> block_solver.h:86</div></div>
<div class="ttc" id="structg2o_1_1_block_solver_traits_html_a91e6510ad42179701d22c3ac312237cd"><div class="ttname"><a href="structg2o_1_1_block_solver_traits.html#a91e6510ad42179701d22c3ac312237cd">g2o::BlockSolverTraits::PoseLandmarkMatrixType</a></div><div class="ttdeci">Matrix&lt; double, PoseDim, LandmarkDim &gt; PoseLandmarkMatrixType</div><div class="ttdef"><b>Definition:</b> block_solver.h:50</div></div>
<div class="ttc" id="namespaceg2o_html_a83b509c02a1333991cbb0c04d3ff7beb"><div class="ttname"><a href="namespaceg2o.html#a83b509c02a1333991cbb0c04d3ff7beb">g2o::BlockSolver_7_3</a></div><div class="ttdeci">BlockSolver&lt; BlockSolverTraits&lt; 7, 3 &gt; &gt; BlockSolver_7_3</div><div class="ttdef"><b>Definition:</b> block_solver.h:184</div></div>
<div class="ttc" id="structg2o_1_1_block_solver_traits_3_01_eigen_1_1_dynamic_00_01_eigen_1_1_dynamic_01_4_html_aaff14917064b8670c918e571fcdc4666"><div class="ttname"><a href="structg2o_1_1_block_solver_traits_3_01_eigen_1_1_dynamic_00_01_eigen_1_1_dynamic_01_4.html#aaff14917064b8670c918e571fcdc4666">g2o::BlockSolverTraits&lt; Eigen::Dynamic, Eigen::Dynamic &gt;::LandmarkVectorType</a></div><div class="ttdeci">VectorXd LandmarkVectorType</div><div class="ttdef"><b>Definition:</b> block_solver.h:72</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_html_a5e2970e236c0dcb4eff7c205d7b6b4ae"><div class="ttname"><a href="classg2o_1_1_hyper_graph.html#a5e2970e236c0dcb4eff7c205d7b6b4ae">g2o::HyperGraph::EdgeSet</a></div><div class="ttdeci">std::set&lt; Edge * &gt; EdgeSet</div><div class="ttdef"><b>Definition:</b> hyper_graph.h:90</div></div>
<div class="ttc" id="structg2o_1_1_block_solver_traits_3_01_eigen_1_1_dynamic_00_01_eigen_1_1_dynamic_01_4_html_a11131d4b2d25cea90eef0d3687eb6dc1"><div class="ttname"><a href="structg2o_1_1_block_solver_traits_3_01_eigen_1_1_dynamic_00_01_eigen_1_1_dynamic_01_4.html#a11131d4b2d25cea90eef0d3687eb6dc1">g2o::BlockSolverTraits&lt; Eigen::Dynamic, Eigen::Dynamic &gt;::PoseMatrixType</a></div><div class="ttdeci">MatrixXd PoseMatrixType</div><div class="ttdef"><b>Definition:</b> block_solver.h:68</div></div>
<div class="ttc" id="classg2o_1_1_block_solver_html_a717fa8cb1dd5a212e41d8ebef67955e6"><div class="ttname"><a href="classg2o_1_1_block_solver.html#a717fa8cb1dd5a212e41d8ebef67955e6">g2o::BlockSolver::LinearSolverType</a></div><div class="ttdeci">Traits::LinearSolverType LinearSolverType</div><div class="ttdef"><b>Definition:</b> block_solver.h:111</div></div>
<div class="ttc" id="classg2o_1_1_block_solver_html_aab81798b80dcb6c4182fa1d510914234"><div class="ttname"><a href="classg2o_1_1_block_solver.html#aab81798b80dcb6c4182fa1d510914234">g2o::BlockSolver::writeDebug</a></div><div class="ttdeci">virtual bool writeDebug() const</div><div class="ttdef"><b>Definition:</b> block_solver.h:138</div></div>
<div class="ttc" id="structg2o_1_1_block_solver_traits_html_af5154a15abb566ff5bffc0adb9f0458d"><div class="ttname"><a href="structg2o_1_1_block_solver_traits.html#af5154a15abb566ff5bffc0adb9f0458d">g2o::BlockSolverTraits::LandmarkVectorType</a></div><div class="ttdeci">Matrix&lt; double, LandmarkDim, 1 &gt; LandmarkVectorType</div><div class="ttdef"><b>Definition:</b> block_solver.h:52</div></div>
<div class="ttc" id="structg2o_1_1_block_solver_traits_3_01_eigen_1_1_dynamic_00_01_eigen_1_1_dynamic_01_4_html_ad062ca3c21bf3a3e08d5350174d93d6d"><div class="ttname"><a href="structg2o_1_1_block_solver_traits_3_01_eigen_1_1_dynamic_00_01_eigen_1_1_dynamic_01_4.html#ad062ca3c21bf3a3e08d5350174d93d6d">g2o::BlockSolverTraits&lt; Eigen::Dynamic, Eigen::Dynamic &gt;::LinearSolverType</a></div><div class="ttdeci">LinearSolver&lt; PoseMatrixType &gt; LinearSolverType</div><div class="ttdef"><b>Definition:</b> block_solver.h:77</div></div>
<div class="ttc" id="structg2o_1_1_block_solver_traits_3_01_eigen_1_1_dynamic_00_01_eigen_1_1_dynamic_01_4_html_a380bde2a88f9b257142dd3419422e5a3"><div class="ttname"><a href="structg2o_1_1_block_solver_traits_3_01_eigen_1_1_dynamic_00_01_eigen_1_1_dynamic_01_4.html#a380bde2a88f9b257142dd3419422e5a3">g2o::BlockSolverTraits&lt; Eigen::Dynamic, Eigen::Dynamic &gt;::PoseHessianType</a></div><div class="ttdeci">SparseBlockMatrix&lt; PoseMatrixType &gt; PoseHessianType</div><div class="ttdef"><b>Definition:</b> block_solver.h:74</div></div>
<div class="ttc" id="classg2o_1_1_block_solver_html_a96bf60b923f816086cd2f24de38736ec"><div class="ttname"><a href="classg2o_1_1_block_solver.html#a96bf60b923f816086cd2f24de38736ec">g2o::BlockSolver::PoseLandmarkMatrixType</a></div><div class="ttdeci">Traits::PoseLandmarkMatrixType PoseLandmarkMatrixType</div><div class="ttdef"><b>Definition:</b> block_solver.h:104</div></div>
<div class="ttc" id="structg2o_1_1_block_solver_traits_html_a03351362339d8e6609c577123350bb2a"><div class="ttname"><a href="structg2o_1_1_block_solver_traits.html#a03351362339d8e6609c577123350bb2a">g2o::BlockSolverTraits::PoseHessianType</a></div><div class="ttdeci">SparseBlockMatrix&lt; PoseMatrixType &gt; PoseHessianType</div><div class="ttdef"><b>Definition:</b> block_solver.h:54</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_c_c_s_html"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix_c_c_s.html">g2o::SparseBlockMatrixCCS&lt; PoseLandmarkMatrixType &gt;</a></div></div>
<div class="ttc" id="classg2o_1_1_block_solver_html_ac222d4342825ed8632a87b4f5be94618"><div class="ttname"><a href="classg2o_1_1_block_solver.html#ac222d4342825ed8632a87b4f5be94618">g2o::BlockSolver::_Hpp</a></div><div class="ttdeci">SparseBlockMatrix&lt; PoseMatrixType &gt; * _Hpp</div><div class="ttdef"><b>Definition:</b> block_solver.h:150</div></div>
<div class="ttc" id="classg2o_1_1_block_solver_html_a3bc5b19faa2c45e2c04a6743b3a083de"><div class="ttname"><a href="classg2o_1_1_block_solver.html#a3bc5b19faa2c45e2c04a6743b3a083de">g2o::BlockSolver::_diagonalBackupLandmark</a></div><div class="ttdeci">std::vector&lt; LandmarkVectorType, Eigen::aligned_allocator&lt; LandmarkVectorType &gt; &gt; _diagonalBackupLandmark</div><div class="ttdef"><b>Definition:</b> block_solver.h:163</div></div>
<div class="ttc" id="namespaceg2o_html_a8d3214273331c25cbb5d5266770e6c12"><div class="ttname"><a href="namespaceg2o.html#a8d3214273331c25cbb5d5266770e6c12">g2o::BlockSolverX</a></div><div class="ttdeci">BlockSolver&lt; BlockSolverTraits&lt; Eigen::Dynamic, Eigen::Dynamic &gt; &gt; BlockSolverX</div><div class="ttdef"><b>Definition:</b> block_solver.h:180</div></div>
<div class="ttc" id="classg2o_1_1_block_solver_html_afd898a666343291129d37a979e23ded6"><div class="ttname"><a href="classg2o_1_1_block_solver.html#afd898a666343291129d37a979e23ded6">g2o::BlockSolver::LandmarkMatrixType</a></div><div class="ttdeci">Traits::LandmarkMatrixType LandmarkMatrixType</div><div class="ttdef"><b>Definition:</b> block_solver.h:103</div></div>
<div class="ttc" id="classg2o_1_1_block_solver_html_ad6a1a8f17c8fb854962a8204c79bc981"><div class="ttname"><a href="classg2o_1_1_block_solver.html#ad6a1a8f17c8fb854962a8204c79bc981">g2o::BlockSolver::_DInvSchur</a></div><div class="ttdeci">SparseBlockMatrixDiagonal&lt; LandmarkMatrixType &gt; * _DInvSchur</div><div class="ttdef"><b>Definition:</b> block_solver.h:155</div></div>
<div class="ttc" id="structg2o_1_1_block_solver_traits_3_01_eigen_1_1_dynamic_00_01_eigen_1_1_dynamic_01_4_html_a4409de5074b3458f33ba2015e2fa6891"><div class="ttname"><a href="structg2o_1_1_block_solver_traits_3_01_eigen_1_1_dynamic_00_01_eigen_1_1_dynamic_01_4.html#a4409de5074b3458f33ba2015e2fa6891">g2o::BlockSolverTraits&lt; Eigen::Dynamic, Eigen::Dynamic &gt;::LandmarkMatrixType</a></div><div class="ttdeci">MatrixXd LandmarkMatrixType</div><div class="ttdef"><b>Definition:</b> block_solver.h:69</div></div>
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